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Diff: include/SafetyStop/safetystopfunction.hpp
- Revision:
- 1:ceee5a608e7c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/include/SafetyStop/safetystopfunction.hpp Thu Mar 28 07:44:42 2019 +0000 @@ -0,0 +1,75 @@ +/** + ****************************************************************************** + * @file SafetyStopFunction.hpp + * @author RBRO/PJ-IU + * @version V1.0.0 + * @date day-month-2017 + * @brief This file contains the class declaration for the safety stop activation + * methods. + ****************************************************************************** + */ + +/* Include guard */ +#ifndef SAFETY_STOP_FUNCTION_HPP +#define SAFETY_STOP_FUNCTION_HPP + +/* Required for the use of C_IR_DistanceSensorDriver */ +#include <SHARP_IR_distance\IR_DistanceSensorDriver\ir_distancesensordriver.hpp> + + +/** + * @brief It is used for deciding whether to activate safetyu stop depending on + * distance sensors reading. + * + */ +class CSafetyStopFunction{ +public: + /* Construnctor */ + CSafetyStopFunction(C_IR_DistanceSensorDriver& f_senLeftFront + , C_IR_DistanceSensorDriver& f_senMidLeftFront + , C_IR_DistanceSensorDriver& f_senCenterFront + , C_IR_DistanceSensorDriver& f_senMidRightFront + , C_IR_DistanceSensorDriver& f_senRightFront + // , C_IR_DistanceSensorDriver& f_senLeftBach + // , C_IR_DistanceSensorDriver& f_senRightBach + ); + + /* Destructor */ + ~CSafetyStopFunction(); + + /* Function for activating safety stop */ + bool isSafetyStopActive(float f_speed, float f_angle); + /* Serial callback method */ + static void staticSerialCallback(void* obj,char const * a, char * b); +private: + /* Serial callback actions */ + void serialCallback(char const * a, char * b); + /* The functionality active state*/ + bool m_active; + /* Current car speed */ + float m_speed; + /* Current steering angle */ + float m_angle; + /* Front sensors */ + C_IR_DistanceSensorDriver& m_senLeftFront; + C_IR_DistanceSensorDriver& m_senMidLeftFront; + C_IR_DistanceSensorDriver& m_senCenterFront; + C_IR_DistanceSensorDriver& m_senMidRightFront; + C_IR_DistanceSensorDriver& m_senRightFront; + /* Back sensors */ + // C_IR_DistanceSensorDriver& m_senLeftBach; + // C_IR_DistanceSensorDriver& m_senRightBach; + /* Serial communication member */ + /* USED FOR DEBUG */ +}; + +/* Include guard */ +#endif + + + + + + + +